WE ARE ON A SOLAR MISSION FROM HERE ON OUT!

Operational Constraints (for Sol 58 Sequence):

1. New or changed recommendations:
   
   • When shutting down for the night command the vehicle to wakeup at 07:30 LST the next morning. This is important from a telemetry standpoint in that it will limit the degree to which our telemetry plots are scrambled.
   • The ONLY time the vehicle should be "shutdown" is at the end of the day.
   • Given our current tilt, plan on shutting down for the night by 15:45 LST. No APXS after 15:00.
   • Disable battery usage for all devices.

1. Perform gyro/encoder turn-in-place test when feasible
2. HAVE S0050 IMAGES TAKEN DURING WAYPOINT COMMANDS ... ESPECIALLY WHEN DRIVING OVER ROUGH TERRAIN!
3. S0050 images at Low-Compression (3:1).
4. (DESIRE) Take rover images as early in the morning as possible to reduce dark noise current.
5. (DESIRE) Leave rover on until 15:45 LST to collect late afternoon thermal data, perform health check just before shutdown.
6. (DESIRE) Perform Wheelie before start of Traverse and Soil Experiment at end of Sol's traverse when practical

1. It is recommended that prior to executing a Deploy APXS command when the APXS may already be in contact the APXS should first be retracted by about 10 degrees to make up for the inherent 8-10 degrees of motion that will always occur during the beginning of the APXS Deploy command.
2. Make sure sequence has as many days of runout as possible (analogous to the design of the 54910B sequence.
3. When shutting down for the night command the vehicle to wakeup at 07:30 LST the next morning. This is important from a telemetry standpoint in that it will limit the degree to which our telemetry plots are scrambled.
4. The ONLY time the vehicle should be "shutdown" is at the end of the day.
5. Accelerometers
   • DISABLE the Y accelerometer during moves and waypoints at risk level 1
   • CAN DISABLE the Y accelerometer during moves at risk level 2 ONLY IF planned path appears 'safe'; otherwise ENABLE Y accelerometer.
   • ALWAYS ENABLE Y accel for waypoints at risk level 2
   • Leave X accelerometer ENABLED
   • Leave Z accelerometer DISABLED
6. Heating
   • Set modem Heat and Reheat parameters both to "0" prior to shutting down for the night if LMRE is NOT going to be turned on prior to expected rover solar wakeup of ~7:15 LST. Reset them back to normal values on the morning of "runout" Sols.
   • Set Modem Heat to 15 minutes normally; 10 minutes if following a night-time APXS, 0 minutes if sequence to be queued after 12:00 LST
   • Set Modem Reheat to 5 minutes and maximum modem reheat temperature 30 deg
   • Enable Modem Heat and Reheat only when LMRE is ON.
   • Perform WEB heating on days of low activity (i.e. no traverses) with no night-time APXS operations and Runouts.
   • Use Web_Heat_B parameter with Max temp of +30C from 13:00 to 15:00 when WEB heating.
   • Set Web_Heat_B parameter to -30C (-273) when not heating.
   • Always leave Web_Heat_A parameter at +40C (1197).
   • Limit image transfer after 1:00 LST (to prevent overheating)
7. Traverses
   • Do NOT move with Bogie potentiometers disabled.
     
   • Enable hazard avoidance using sensors, contacts, and laser proximity, and perform each waypoint command only once.
   • Limit each "Move Command" distance to 0.5 meter or less to enable gyro to be recalibrated and thereby reduce the amount of drift.
   • Before beginning traverses, should back up a little (~ 10 cm) to enable lasers to detect hazards which may be very close to the front of the rover. UNMASK contact sensors for this move. May want to then move forward ~ 1 cm, with contact sensors MASKED to remove any contact that may have been made during the previous backward move. Then UNMASK all contact sensors and plan subsequent waypoints.
   • When performing long waypoint traverses with "thread-the-needle" enabled like that performed on Sol 35, break the waypoints up such that the last segment is performed with "thread-the-needle" disabled. This way the vehicle will make sure (most likely) that it ends up in a location in which it can safely turn in place without climbing on nearby obstacles. If the vehicle stops because it can not find a path as wide as the turn circle, subsequent turn commands will be skipped ... and we may be able to avoid the situation we ran into on Sol 36.
8. Health Checks
   • If need to perform Level 3 health checks between Sol n, 20:00 LST and Sol n+1,8:00 LST, disable lasers (i.e., never power) to prevent them from being turned on. Re-enable afterwards.
   • Always command a Level 2 Health Check before shutdown.
   • Perform level 2 health check at the end of every traverse command
   • If possible, health checks should not be skipped as a result of traversable hazards.
9. Mask all errors (except INVALID CMD) immediately prior to "Read Mem" of persistent state table. Unmask accordingly immediately afterwards.
10. Perform Read Memory just before last downlink session
11. Perform Sync Clock just prior to EOD shudown (or LMRE off) after Clear Errors.
12. Disable auto shutdown
13. DISABLE RF Wheel Temperature Sensor
14. Insert longer wait (10 seconds) between APXS cycle start command and APXS turn-off command (turn off devices) .
15. Future soil mechanics experiments in suspected hard material should have 6 spins of 500 counts rather than 4.

SEQUENCE EXECUTION STATUS (EOD Sol 56):

Execution:	Runout, LOST BATTERIES
State:	Running
Wakeup:	Solar Power, SOL 57 ~ 07:20 followed by Shutdown to 09:00 LST
Crit Errors:	Load Sheds (associated with battery loss)
Executing sequence 55610B

VEHICLE STATE: (AS OF COMMAND: 0 Health Check (just after Command 6196)
SCET: 8/31/97 16:40, MLST: Sol 57 13:32 )

Mission Phase:	Primary
Mode:	Executing
Config:	Moderate roll and pitch
	APXS Deployed onto Half Dome
Power:	Off Nominal (BATTERIES DEPLETED)
Device Status:	Gyro force failed
	Z accel force failed
	RFW temp. force failed
Temp (Internal):	Nominal
Temp (External):	Nominal
Temp:(Modem):	Nominal

   Parameter     Initial      Final    IMP EOD    Parameter    Initial     Final
---------------------------------------------------------------------------------
X Position (m)   -4.934      -4.934       ?      LBogie (deg)  +17.04     +16.96
Y Position (m)   -3.860      -3.860       ?      Rbogie (deg)  -16.16     -16.16
Heading   (deg)   +89.2      +89.2        ?      Diff   (deg)  +13.44     +13.44

Pitch    (deg)    +15.5      +15.5     (+ Pitch -> Front down)
Roll     (deg)    +15.5      +16.7     (+ Roll  -> Roll to Starboard)

ADM Pos  (deg)   -102.40    -102.40     (deployed)

LFS      (deg)     +1.9       +1.9              RFS    (deg)    -1.3       -1.3
LRS      (deg)      0.0        0.0              RRS    (deg)    -1.3       -1.3
--------------------------------------------------------------------------------

BATTERY STATE/USAGE(AS OF EOD SOL 56)

BATTERIES DEPLETED

	ADM			Bumper		Solar
	UL	UR	B	RB	LB	LR	RR	RF	LF
Mask	1	1	1	1	1	1	1	1	1
State	0	1	1	0	0	0	0	0	0

	ERROR FLAGS
	Skip	GenFail	InvalidCmd	WEB_Hot	NoPwr	NonTrav	DevNA	DevFail	Timeout
Mask	1	1	1	1	1	1	1	1	1
State	0	0	0	0	0	0	0	0	0

SUBSYSTEM STATUS (AS OF EOD SOL 57):

S/S	Status	Comments
C&N	Nominal	None
MTM	Nominal	None
Thermal	Nominal	None
Power	Nominal	Batteries Depleted
Telecom	Nominal	None

None

DATA VOLUME SUMMARY (BY APID)*

APID   #PKTS     #BYTES    #Mbits
----------------------------------
  4       15      4437     0.03550
  5       64      2365     0.01892
  6        2       120     0.00096
  7        5       452     0.00362
  8        0         0     0.00000
  9        0         0     0.00000
 10        0         0     0.00000
 12        5      5407     0.04326
 23        0         0     0.00000
 24        0         0     0.00000
 25        0         0     0.00000
 29        0         0     0.00000
----------------------------------
          91     12781     0.10225

*All data downlinked on this Sol INCLUDING retransmitted data.

NAVIGATION PERFORMANCE:

Report Pending

THERMAL PERFORMANCE:

Thermal Performance is Nominal.

TELECOM PERFORMANCE

Pending

MOBILITY PERFORMANCE:

no movemement today
• Daily Odometry: 0.0 m
• Total Odometry: 82.990 m
• Average Wheel Travel: 116.9 m

POWER PERFORMANCE:

With the exception of the battery, which was depleted on SOL 56, the remainder of the Power Subsystem is in good health. The power subsystem continues to operate only on solar power. There were no new operational problems noted in the SOL 57 telemetry.

TBD